摘要
提出了一种3自由度的多连杆矿用正铲液压挖掘机机构,对该挖掘机的动力学进行了建模,基于MATLAB平台对推导得到的动力学数学模型进行仿真,结果显示与传统挖掘机相比挖掘力有了显著提高。同时,设计了一种针对该挖掘机的PID控制器,仿真结果显示该控制器可以实现挖掘机位姿准确定位和具有较好的控制效果,符合实际挖掘工作的需要。
A innovatory planar 3-degrees-of-freedom（3-DOF） mechanism of the face-shovel hydraulic excavator is proposed. The dynamic model is established. Based on the MATLAB,the dynamic model is executed. By comparing the results of driving forces of hydraulic cylinders, apparently the innovative hydraulic excavator has stronger excavating forces. For the innovatory face-shovel excavator, the control of PID is applied, whose can control the bucket position effectively and better control effects.
出处
《煤炭技术》
CAS
北大核心
2016年第4期229-231,共3页
Coal Technology
基金
国家自然科学基金资助项目(51275437
50905155)
